원호 이동

설명

The Circular Arc Move enables you to program the robot to move in a circular motion while keeping the tool orientation either fixed or unconstrained.

 

To access Circular Arc Move command

  1. Go to the main program screen. Command Nodes를 참조하십시오.

  2. Tap the Circular Arc Move icon in the Commands toolbox.

    A parent node and two child nodes are inserted into the program tree.

    • First child node = Circular Arc Move: Via_Point

    • Second child node = Circular Arc Move: End_point

    The node has three editable fields and a More button for advanced options.
 

The three editable fields are:

  • 이름

    A name for referencing the node.

  • 속도

    The robot speed during the move.

  • 가속도

    The robot acceleration during the move.

  1. Tap the Name field, and three tabs appear:

    • 값

    • 변수

    • 표현식

  2. Enter the data in each tab and tap Confirm. See Value-Variable-Expression Tabs.

  3. Tap the Speed field, and three tabs appear:

    • 값

    • 변수

    • 표현식

  4. Repeat step 4.

  5. Tap the Acceleration field, and three tabs appear:

    • 값

    • 변수

    • 표현식

  6. Repeat step 4.
이동 노드의 모션 프로필 레이블

프로그램 트리의 모든 이동 관련 명령 노드에는 각 노드와 연결된 모션 프로필이 표시됩니다. 이 기능을 통해 사용자는 선택한 모션 프로필을 이동 노드에서 확인할 수 있습니다. 이 기능은 다음과 같은 명령 노드에서 구현됩니다.

커스텀 모션 프로필이 있는 이동 노드에는 모션 프로필 대신 속도 및 가속도 값이 표시됩니다.

 

 
To access More settings

Tap the More button, and the More settings screen appears.

On the left side, you see four advanced options:

  • 자세

  • 이동

  • 참조

  • 변환

 

To use Orientation

  1. Tap Orientation.

    On the right side, two buttons are provided:

    • 고정

    • 비고정

  2. Tap Fixed when you want the start point only to be used to define the tool orientation, and Confirm.

  3. Tap Unconstrained when you want the start point to transform to the endpoint to define tool orientation and Confirm.

    Note: A diagram shows the difference between the two endpoints when you choose unconstrained.

 

To use Movement

  1. Tap Movement.

    Two fields appear:

    • 속도

    • 가속도

  2. Tap the Speed field, and three tabs appear:

    • 값

    • 변수

    • 표현식

  3. Enter the data in each tab and tap Confirm. See Value-Variable-Expression Tabs.

  4. Tap the Acceleration field, and three tabs appear:

    • 값

    • 변수

    • 표현식

  5. Enter the data in each tab and tap Confirm. See Value-Variable-Expression Tabs.

To use Reference

  1. Tap Reference, and two editable Frame and TCP fields appear.

    Tap the Frame field, and four options are selectable:

    • 월드

    • 베이스

    • flange

    • tcp

  2. Tap the TCP field, and two options are selectable:

    • Tool_flange

    • Active_TCP

  3. In the Position column, tap X, Y, Z fields to enter the value, and Confirm.

  4. In the Rotation column, tap RX, RY, RZ fields to enter the value, and tap Confirm.

To use Transform

  1. Tap Transform.

  2. Tap the Pose field to specify how the position needs to be transformed and Confirm.

To use Circular Arc Move: Via_point

  1. Tap the Circular Arc Move: Via_Point node and two fields appear:

    • 이름

    • Teach Via Point

  2. Tap the Name field, and three tabs appear:

    • 값

    • 변수

    • 표현식

  3. Enter the data in each tab and tap Confirm. See Value-Variable-Expression Tabs.

  4. Tap Teach Via Point.

    The 3D viewer screen of the robot appears. (See 조인트 이동 and 선형 이동 for details of use.)

     

To use Circular Arc Move: End_Point

  1. Tap the Circular Arc Move: End_Point node, and three fields appear:

    • 이름

    • 혼합

    • Teach Via Point

  2. Tap the Name field, and three tabs appear:

    • 값

    • 변수

    • 표현식

  3. Enter the data in each tab and tap Confirm. See Value-Variable-Expression Tabs.

  4. Tap the Blend field, and three tabs appear:

    • 값

    • 변수

    • 표현식

  5. Repeat step 3.

  6. Tap Teach End Point.

    The 3D viewer screen of the robot appears. (See 조인트 이동 and 선형 이동 for details of use.)